mirror of https://github.com/ArduPilot/ardupilot
184 lines
4.7 KiB
C++
184 lines
4.7 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#include <AP_HAL/AP_HAL.h>
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#include "AP_InertialNav.h"
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#if AP_AHRS_NAVEKF_AVAILABLE
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/*
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A wrapper around the AP_InertialNav class which uses the NavEKF
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filter if available, and falls back to the AP_InertialNav filter
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when EKF is not available
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*/
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/**
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update internal state
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*/
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void AP_InertialNav_NavEKF::update(float dt)
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{
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// get the position relative to the local earth frame origin
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_ahrs_ekf.get_relative_position_NED(_relpos_cm);
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_relpos_cm *= 100; // convert to cm
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// get the absolute WGS-84 position
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_haveabspos = _ahrs_ekf.get_position(_abspos);
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// get the velocity relative to the local earth frame
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_ahrs_ekf.get_velocity_NED(_velocity_cm);
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_velocity_cm *= 100; // convert to cm/s
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// Get a derivative of the vertical position which is kinematically consistent with the vertical position is required by some control loops.
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// This is different to the vertical velocity from the EKF which is not always consistent with the verical position due to the various errors that are being corrected for.
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_ahrs_ekf.get_vert_pos_rate(_pos_z_rate);
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_pos_z_rate *= 100; // convert to cm/s
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// InertialNav is NEU
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_relpos_cm.z = - _relpos_cm.z;
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_velocity_cm.z = -_velocity_cm.z;
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_pos_z_rate = - _pos_z_rate;
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}
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/**
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* get_filter_status : returns filter status as a series of flags
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*/
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nav_filter_status AP_InertialNav_NavEKF::get_filter_status() const
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{
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nav_filter_status status;
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_ahrs_ekf.get_filter_status(status);
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return status;
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}
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/**
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* get_origin - returns the inertial navigation origin in lat/lon/alt
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*/
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struct Location AP_InertialNav_NavEKF::get_origin() const
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{
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struct Location ret;
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if (!_ahrs_ekf.get_origin(ret)) {
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// initialise location to all zeros if EKF1 origin not yet set
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memset(&ret, 0, sizeof(ret));
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}
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return ret;
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}
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/**
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* get_position - returns the current position relative to the home location in cm.
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*
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* @return
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*/
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const Vector3f &AP_InertialNav_NavEKF::get_position(void) const
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{
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return _relpos_cm;
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}
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/**
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* get_location - updates the provided location with the latest calculated location
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* returns true on success (i.e. the EKF knows it's latest position), false on failure
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*/
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bool AP_InertialNav_NavEKF::get_location(struct Location &loc) const
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{
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return _ahrs_ekf.get_location(loc);
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}
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/**
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* get_latitude - returns the latitude of the current position estimation in 100 nano degrees (i.e. degree value multiplied by 10,000,000)
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*/
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int32_t AP_InertialNav_NavEKF::get_latitude() const
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{
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return _abspos.lat;
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}
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/**
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* get_longitude - returns the longitude of the current position estimation in 100 nano degrees (i.e. degree value multiplied by 10,000,000)
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* @return
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*/
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int32_t AP_InertialNav_NavEKF::get_longitude() const
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{
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return _abspos.lng;
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}
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/**
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* get_velocity - returns the current velocity in cm/s
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*
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* @return velocity vector:
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* .x : latitude velocity in cm/s
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* .y : longitude velocity in cm/s
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* .z : vertical velocity in cm/s
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*/
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const Vector3f &AP_InertialNav_NavEKF::get_velocity() const
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{
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return _velocity_cm;
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}
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/**
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* get_velocity_xy - returns the current horizontal velocity in cm/s
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*
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* @returns the current horizontal velocity in cm/s
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*/
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float AP_InertialNav_NavEKF::get_velocity_xy() const
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{
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return pythagorous2(_velocity_cm.x, _velocity_cm.y);
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}
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/**
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* get_pos_z_derivative - returns the derivative of the z position in cm/s
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*/
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float AP_InertialNav_NavEKF::get_pos_z_derivative() const
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{
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return _pos_z_rate;
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}
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/**
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* get_altitude - get latest altitude estimate in cm
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* @return
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*/
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float AP_InertialNav_NavEKF::get_altitude() const
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{
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return _relpos_cm.z;
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}
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/**
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* getHgtAboveGnd - get latest height above ground level estimate in cm and a validity flag
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*
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* @return
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*/
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bool AP_InertialNav_NavEKF::get_hagl(float &height) const
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{
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// true when estimate is valid
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bool valid = _ahrs_ekf.get_hagl(height);
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// convert height from m to cm
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height *= 100.0f;
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return valid;
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}
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/**
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* get_hgt_ctrl_limit - get maximum height to be observed by the control loops in cm and a validity flag
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* this is used to limit height during optical flow navigation
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* it will return invalid when no limiting is required
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* @return
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*/
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bool AP_InertialNav_NavEKF::get_hgt_ctrl_limit(float& limit) const
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{
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// true when estimate is valid
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if (_ahrs_ekf.get_hgt_ctrl_limit(limit)) {
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// convert height from m to cm
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limit *= 100.0f;
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return true;
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}
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return false;
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}
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/**
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* get_velocity_z - returns the current climbrate.
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*
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* @see get_velocity().z
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*
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* @return climbrate in cm/s
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*/
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float AP_InertialNav_NavEKF::get_velocity_z() const
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{
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return _velocity_cm.z;
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}
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#endif // AP_AHRS_NAVEKF_AVAILABLE
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